From adcbb65e5c33f3a9f803a6d0a89379bd5830450d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 16:07:52 -0400
Subject: [PATCH] HybridFactorGraph docs and minor updates

---
 gtsam/hybrid/HybridFactorGraph.cpp | 21 +++++++++++++--------
 gtsam/hybrid/HybridFactorGraph.h   | 22 +++++++++++++---------
 2 files changed, 26 insertions(+), 17 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 450636ab3..344b4220b 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -63,6 +63,7 @@ static std::string RESET = "\033[0m";
 
 constexpr bool DEBUG = false;
 
+/* ************************************************************************ */
 static GaussianMixtureFactor::Sum &addGaussian(
     GaussianMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
   using Y = GaussianFactorGraph;
@@ -406,20 +407,24 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   }
 }
 
+/* ************************************************************************ */
 void HybridFactorGraph::add(JacobianFactor &&factor) {
   FactorGraph::add(boost::make_shared<HybridGaussianFactor>(std::move(factor)));
 }
 
-void HybridFactorGraph::add(DecisionTreeFactor &&factor) {
-  FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(std::move(factor)));
-}
-
-void HybridFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
-  FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
-}
-
+/* ************************************************************************ */
 void HybridFactorGraph::add(JacobianFactor::shared_ptr factor) {
   FactorGraph::add(boost::make_shared<HybridGaussianFactor>(factor));
 }
 
+/* ************************************************************************ */
+void HybridFactorGraph::add(DecisionTreeFactor &&factor) {
+  FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(std::move(factor)));
+}
+
+/* ************************************************************************ */
+void HybridFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
+  FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
+}
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index bfd6a8690..10670b6b7 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -81,30 +81,34 @@ class HybridFactorGraph : public FactorGraph<HybridFactor>,
   using Values = gtsam::Values;  ///< backwards compatibility
   using Indices = KeyVector;     ///> map from keys to values
 
- public:
+  /// @name Constructors
+  /// @{
+
   HybridFactorGraph() = default;
 
-  //  /** Construct from container of factors (shared_ptr or plain objects) */
-  //  template <class CONTAINER>
-  //  explicit HybridFactorGraph(const CONTAINER& factors) : Base(factors) {}
-
-  /** Implicit copy/downcast constructor to override explicit template container
+  /**
+   * Implicit copy/downcast constructor to override explicit template container
    * constructor. In BayesTree this is used for:
    * `cachedSeparatorMarginal_.reset(*separatorMarginal)`
    * */
   template <class DERIVEDFACTOR>
   HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
+  /// @}
+
   using FactorGraph::add;
 
-  /// Add a factor directly using a shared_ptr.
+  /// Add a Jacobian factor to the factor graph.
   void add(JacobianFactor&& factor);
 
+  /// Add a Jacobian factor as a shared ptr.
+  void add(boost::shared_ptr<JacobianFactor> factor);
+
+  /// Add a DecisionTreeFactor to the factor graph.
   void add(DecisionTreeFactor&& factor);
 
+  /// Add a DecisionTreeFactor as a shared ptr.
   void add(boost::shared_ptr<DecisionTreeFactor> factor);
-
-  void add(boost::shared_ptr<JacobianFactor> factor);
 };
 
 }  // namespace gtsam